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      <title>Class DemoTopo1 | HiAPI-C# 2025 </title>
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        <article data-uid="Sample.Mech.DemoTopo1">



  <h1 id="Sample_Mech_DemoTopo1" data-uid="Sample.Mech.DemoTopo1" class="text-break">
Class DemoTopo1  
  </h1>

  <div class="facts text-secondary">
    <dl><dt>Namespace</dt><dd><a class="xref" href="Sample.html">Sample</a>.<a class="xref" href="Sample.Mech.html">Mech</a></dd></dl>
  <dl><dt>Assembly</dt><dd>Hi.Sample.dll</dd></dl>
  </div>

  <div class="markdown summary"><p>Demonstrates the creation and visualization of mechanical assemblies with kinematic linkages.
Shows how to build coordinate systems, establish kinematic relationships, and capture visual output.</p>
</div>
  <div class="markdown conceptual"></div>

  <div class="codewrapper">
    <pre><code class="lang-csharp hljs">public static class DemoTopo1</code></pre>
  </div>




  <dl class="typelist inheritance">
    <dt>Inheritance</dt>
    <dd>
      <div><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object">object</a></div>
      <div><span class="xref">DemoTopo1</span></div>
    </dd>
  </dl>



  <dl class="typelist inheritedMembers">
    <dt>Inherited Members</dt>
    <dd>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object)">object.Equals(object)</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object-system-object)">object.Equals(object, object)</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gethashcode">object.GetHashCode()</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gettype">object.GetType()</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.memberwiseclone">object.MemberwiseClone()</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.referenceequals">object.ReferenceEquals(object, object)</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.tostring">object.ToString()</a>
    </div>
  </dd></dl>




  <h2 id="Sample_Mech_DemoTopo1_remarks">Remarks</h2>
  <div class="markdown level0 remarks"><h3 id="source-code">Source Code</h3>
<pre><code class="lang-csharp" name="SampleCode">using System;
using System.Collections.Generic;
using Hi.Disp;
using Hi.Geom;
using Hi.Mech.Topo;

namespace Sample.Mech
{
    /// &lt;summary&gt;
    /// Demonstrates the creation and visualization of mechanical assemblies with kinematic linkages.
    /// Shows how to build coordinate systems, establish kinematic relationships, and capture visual output.
    /// &lt;/summary&gt;
    /// &lt;remarks&gt;
    /// ### Source Code
    /// [!code-csharp[SampleCode](~/../Hi.Sample/Mech/DemoTopo1.cs)]
    /// &lt;/remarks&gt;
    public static class DemoTopo1
    {
        /// &lt;summary&gt;
        /// Creates a demonstration assembly with kinematic linkages.
        /// Builds a mechanical assembly with multiple anchors and branches, including both static and dynamic transformations.
        /// &lt;/summary&gt;
        /// &lt;returns&gt;A tuple containing the assembly and root anchor&lt;/returns&gt;
        static (Asmb asmb,Anchor root) GetDemoAsmb()
        {
            #region DocSite.DemoTopo1
            //build coordinate systems and the assembly.
            Asmb asmb = new Asmb { Name = &quot;Mech&quot; };
            Anchor O = new Anchor(asmb, &quot;O&quot;);
            Anchor O1 = new Anchor(asmb, &quot;O1&quot;);
            Anchor X = new Anchor(asmb, &quot;X&quot;);
            Anchor Z = new Anchor(asmb, &quot;Z&quot;);
            Anchor B = new Anchor(asmb, &quot;B&quot;);

            //build kinematic link
            Branch.Attach(O, O1, new StaticTranslation(new Vec3d(0, 0, 80)));
            Branch brnX = Branch.Attach(O1, X, new DynamicTranslation(new Vec3d(1, 0, 0)));
            Branch brnZ = Branch.Attach(X, Z, new DynamicTranslation(new Vec3d(0, 0, 1)));
            Branch brnB = Branch.Attach(Z, B, new DynamicRotation(new Vec3d(0, 1, 0), 0, new Vec3d(-100, 0, 0)));

            //drive the dynamic transformation by single value for each branch.
            brnX.Step = 200;
            brnZ.Step = 100;
            brnB.Step = MathUtil.ToRad(-60);

            //Get and show the transform matrices relative to O.
            Dictionary&lt;Anchor, Mat4d&gt; matMap = asmb.GetMat4dMap(O);
            Console.WriteLine(&quot;Transform Matrix relative to O:&quot;);
            foreach (KeyValuePair&lt;Anchor, Mat4d&gt; keyValue in matMap)
                Console.WriteLine($&quot;{keyValue.Key.Name} : {keyValue.Value}&quot;);
            #endregion

            return (asmb,O);
        }
        
        /// &lt;summary&gt;
        /// Captures the assembly visualization and saves it to a file.
        /// Initializes the display engine, sets up the assembly visualization with an isometric view, and saves a snapshot to a bitmap file.
        /// &lt;/summary&gt;
        /// &lt;param name=&quot;src&quot;&gt;A tuple containing the assembly and root anchor for visualization&lt;/param&gt;
        static void SnapshotToFile((Asmb asmb, Anchor root) src)
        {
            //all the drawing function has to call DispEngine.Init() before using.
            DispEngine.Init();
            DispEngine.EnableSuppressDefaultLogo = true;

            using (DispEngine dispEngine = new DispEngine(
                src.asmb.GetAsmbDraw(src.root)))
            {
                dispEngine.SetViewToIsometricView();
                dispEngine.Snapshot(&quot;DemoTopo1.bmp&quot;, 680, 480);
            }
            Console.WriteLine(&quot;Snapshot file output.&quot;);

            DispEngine.FinishDisp();
        }
        static void Main()
        {
            SnapshotToFile(GetDemoAsmb());
        }
    }
}
</code></pre></div>



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